Diseño de un gripper no planar para un brazo robótico r17

Abstract

Con este trabajo se busca mejorar la versatilidad y funcionamiento de la iteración del gripper planar realizado anteriormente y generar una alternativa a la problemática del conocimiento de la fuerza que aplica el gripper para utilizarla en control de fuerza. Se realizó un gripper no planar de múltiples dedos independientes mediante impresión 3D y servomotores para otorgar movilidad a sus 12 grados de libertad. Para conocer la fuerza aplicada, se estimó mediante los torques de los servomotores y la cinemática de los dedos, permitiendo determinar la fuerza en sus 3 componentes vectoriales (X, Y y Z).

The aim of this work is to improve the versatility and performance of the planar gripper iteration carried out in [1] and generate an alternative to the problem of knowledge of the force applied by the gripper and use it to apply force control. To improve the versatility of the gripper, a non-planar gripper with multiple independent fingers was made using 3D printing techniques and servomotors to provide the mobility of each of the 12 degrees of freedom of the gripper. The design of the gripper and the inclusion of a high number of degrees of freedom made it much more versatile than the previous iteration. To know the applied force, the force was estimated through the torques of each of the servomotors and the kinematics of the fingers that make up the gripper. In this way it was possible to determine the force that each of the fingers exerts on the object in its 3 vectorial components (X, Y and Z). The force estimation system consists of symbolic kinematic calculations performed on the microcontroller used and a current measuring circuit for the calculation of the torques of each of the servomotors. The gripper showed better results in versatility, knowledge of the applied force and recognition in the robotat mocap system compared to its previous iteration.